Table 1.

Detectors/Descriptors characteristics and parameters.

Detector/Descriptor	Features to Detect	Size of Descriptor	Parameters
SIFT	Blobs	128 Bytes	Contrast Theshold, Sigma
SURF	Blobs	128 Float	Hessian Threshold
ORB	Corners	32 Bytes	Fast Threshold, Max Features
BRISK	Corners	64 Bytes	BRISK_threshold
AKAZE	Blobs	61 Bytes	AKAZE_threshold